- Robinson Crusoe: The narrator of the novel who gets shipwrecked.
- Friday: A native Caribbean whom Crusoe saves from cannibalism, and subsequently named "Friday". He becomes a servant and friend to Crusoe.
- Xury: Servant to Crusoe after they escape slavery from the Captain of the Rover together. He is later given to the Portuguese Sea Captain as an indentured servant.
- The Widow: Friend to Crusoe who looks over his assets while he is away.
- Portuguese Sea Captain: Rescues Crusoe after he escapes from slavery. Later helps him with his money and plantation.
- The Spaniard: A man rescued by Crusoe and Friday from the cannibals who later helps them escape the island.
- Friday's father: rescued by Crusoe and Friday at the same time as the Spaniard.
- Robinson Crusoe's father: A merchant named Kreutznaer.
- Captain of the Rover: Moorish pirate of Sallee who captures and enslaves Crusoe.
- Traitorous crew members: members of a mutinied ship who appear towards the end of novel
- The Savages: Cannibals that come to Crusoe's Island and who represent a threat to Crusoe's religious and moral convictions as well as his own safety.
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